#include"ros/ros.h"
#include"tf2_ros/static_transform_broadcaster.h"
#include"geometry_msgs/TransformStamped.h"
#include"tf2/LinearMath/Quaternion.h"

int main(int argc, char *argv[])
{
    setlocale(LC_ALL,"");
    ros::init(argc,argv,"ale");
    ros::NodeHandle nh;
    tf2_ros::StaticTransformBroadcaster pub;
    geometry_msgs::TransformStamped msg;
    msg.header.stamp=ros::Time::now();
    msg.header.frame_id="edg";
    msg.child_frame_id="uzi";
    msg.transform.translation.x=0.2;
    msg.transform.translation.y=0.0;
    msg.transform.translation.z=0.4;
    
    tf2::Quaternion qtn;
    qtn.setRPY(0,0,0);
    msg.transform.rotation.x=qtn.getX();
    msg.transform.rotation.y=qtn.getY();
    msg.transform.rotation.z=qtn.getZ();
    msg.transform.rotation.w=qtn.getW();

    pub.sendTransform(msg);

    ros::spin();

    return 0;
}
